The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B5. Beijing 2008 
950 
Count of Valid Ranges per Pixel 
Mean Distance Deviation per Pixel 
20 40 60 80 100 12 0 14 0 160 
4500 
20 40 60 80 100 120 140 160 
5000 
Count Q 
5500 
-100 -50 0 50 100 
Mean (Derived-Observed Distance) [mm] 
Figure 10: Left: distribution of distance residuals among the 
sensor pixels, due to omission of measurements on targets and 
outside the whiteboard not uniform. Right: the mean of all 
evaluated residuals with respect to each pixel. 
Count of Valid Ranges at Object 
Mean Distance Deviation at Object 
5000 10000 
Count D 
-400 -200 0 200 400 
Mean (Derived-Observed Distance) [mm] 
Figure 11: Count (left) and mean (right) of residuals with 
respect to the location of the corresponding footprints on the 
whiteboard. 
5. CONCLUSIONS 
Making use of the high temporal resolution of PMD cameras 
has shown to be advantageous when aiming at their calibration, 
providing the opportunity to track features and gain high 
precision and redundancy without manual interaction. Using a 
single data set that is contaminated by a variety of error sources 
potentially leads to a better understanding of their 
interdependencies. Calibrating data gathered under more and 
more natural conditions, PMD cameras may find their way to 
quality-oriented applications. 
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